基于变结构多模型的SINS/DVL组合导航算法

对于无人水下航行器来说,SINS/DVL组合导航是其主要导航方式,由于DVL自身作用距离的限制,虽然它可以在水跟踪模式下工作,但洋流速度作为其测量误差会导致SINS/DVL组合导航性能下降甚至失败.针对上述问题,基于有向图切换方法,设置洋流速度模型群,利用所设置的模型群切换策略对子模型群进行激活和终止,通过变结构多模型...

SINS/DVL Integrated Navigation Algorithm Based on Variable Structure Multiple Model

For unmanned underwater vehicles, the SINS/DVL integrated navigation is the main navigation method. Due to its limited detection range, the DVL will work in the water tracking mode. In this case, the ocean current velocity as the measurement error of the DVL will cause the performance decrease of the SINS/DVL integrated navigation system or even navigation failure. To solve the above problems, the ocean current velocity model group is set up based on the method of digraph switching in this paper, and then apply the model-group switching strategy we set to activate and terminate the sub-model group.Finally, the uncertain ocean current velocity is estimated in real time through the variable structure multiple model filtering algorithm, so that the impact of ocean current velocity on the SINS/DVL integrated navigation system can be eliminated. The proposed algorithm is simulated, and the simulation results show that compared with the traditional Interactive Multiple Model (IMM) algorithm, the Variable Structure Multiple Model (VSMM) algorithm not only reduces the amount of calculation (the running time is reduced by nearly 35%) and improves the cost-effectiveness ratio, but also improves the accuracy of the integrated navigation system. Therefore, it provides a reference for high-precision integrated navigation system.